OpenRaiser/Intern-Atlas huggingface dataset:
CSI Sensing from Heterogeneous User Feedbacks: A Constrained Phase Retrieval Approach
Venue: arXiv cs.IT 2022
Year: 2022

This paper investigates the downlink channel state information (CSI) sensing in 5G heterogeneous networks composed of user equipments (UEs) with different feedback capabilities. We aim to enhance the CSI accuracy of UEs only affording the low-resolution Type-I codebook. While existing works have demonstrated that the task can be accomplished by solving a phase retrieval (PR) formulation based on the feedback of precoding matrix indicator (PMI) and channel quality indicator (CQI), they need many feedback rounds. In this paper, we propose a novel CSI sensing scheme that can significantly reduce the feedback overhead. Our scheme involves a novel parameter dimension reduction design by exploiting the spatial consistency of wireless channels among nearby UEs, and a constrained PR (CPR) formulation that characterizes the feasible region of CSI by the PMI information. To address the computational challenge due to the non-convexity and the large number of constraints of CPR, we develop a two-stage algorithm that firstly identifies and removes inactive constraints, followed by a fast first-order algorithm. The study is further extended to multi-carrier systems. Extensive tests over DeepMIMO and QuaDriGa datasets showcase that our designs greatly outperform existing methods and achieve the high-resolution Type-II codebook performance with a few rounds of feedback.
Improving Worst Case Visual Localization Coverage via Place-specific Sub-selection in Multi-camera Systems
Venue: arXiv cs.RO 2022
Year: 2022

6-DoF visual localization systems utilize principled approaches rooted in 3D geometry to perform accurate camera pose estimation of images to a map. Current techniques use hierarchical pipelines and learned 2D feature extractors to improve scalability and increase performance. However, despite gains in typical recall@0.25m type metrics, these systems still have limited utility for real-world applications like autonomous vehicles because of their `worst' areas of performance - the locations where they provide insufficient recall at a certain required error tolerance. Here we investigate the utility of using `place specific configurations', where a map is segmented into a number of places, each with its own configuration for modulating the pose estimation step, in this case selecting a camera within a multi-camera system. On the Ford AV benchmark dataset, we demonstrate substantially improved worst-case localization performance compared to using off-the-shelf pipelines - minimizing the percentage of the dataset which has low recall at a certain error tolerance, as well as improved overall localization performance. Our proposed approach is particularly applicable to the crowdsharing model of autonomous vehicle deployment, where a fleet of AVs are regularly traversing a known route.
Parallel Instance Filtering for Malware Detection
Venue: arXiv cs.CR 2022
Year: 2022

Machine learning algorithms are widely used in the area of malware detection. With the growth of sample amounts, training of classification algorithms becomes more and more expensive. In addition, training data sets may contain redundant or noisy instances. The problem to be solved is how to select representative instances from large training data sets without reducing the accuracy. This work presents a new parallel instance selection algorithm called Parallel Instance Filtering (PIF). The main idea of the algorithm is to split the data set into non-overlapping subsets of instances covering the whole data set and apply a filtering process for each subset. Each subset consists of instances that have the same nearest enemy. As a result, the PIF algorithm is fast since subsets are processed independently of each other using parallel computation. We compare the PIF algorithm with several state-of-the-art instance selection algorithms on a large data set of 500,000 malicious and benign samples. The feature set was extracted using static analysis, and it includes metadata from the portable executable file format. Our experimental results demonstrate that the proposed instance selection algorithm reduces the size of a training data set significantly with the only slightly decreased accuracy. The PIF algorithm outperforms existing instance selection methods used in the experiments in terms of the ratio between average classification accuracy and storage percentage.
A quantitative extension of Interval Temporal Logic over infinite words
Venue: arXiv cs.LO 2022
Year: 2022

Model checking for Halpern and Shoham's interval temporal logic HS has been recently investigated in a systematic way, and it is known to be decidable under three distinct semantics (state-based, trace-based and tree-based semantics). Here, we focus on the trace-based semantics, where the main semantic entities are the infinite execution paths (traces) of the given Kripke structure, assuming in addition homogeneity in the propositional valuation. We introduce a quantitative extension of HS over traces, called Difference HS (DHS) allowing one to express timing constraints on the difference among interval lengths (durations). The quantitative extension of some modalities leads immediately to undecidability, so, we investigate the decidability border for the model checking and satisfiability problems by considering strict syntactical fragments of DHS. In particular, we identify the maximal decidable fragment DHSS of DHS proving in addition that the considered problems for the fragment are at least 2EXPSPACE-hard. Moreover, by exploiting new results on linear-time hybrid logics, we show that for an equally expressive fragment of DHSS, the problems are EXPSPACE-complete. Finally, we provide a characterization of HS over traces by means of the one-variable fragment of a novel hybrid logic.
Accurate and fast identification of minimally prepared bacteria phenotypes using Raman spectroscopy assisted by machine learning
Venue: arXiv cs.LG 2022
Year: 2022

The worldwide increase of antimicrobial resistance (AMR) is a serious threat to human health. To avert the spread of AMR, fast reliable diagnostics tools that facilitate optimal antibiotic stewardship are an unmet need. In this regard, Raman spectroscopy promises rapid label- and culture-free identification and antimicrobial susceptibility testing (AST) in a single step. However, even though many Raman-based bacteria-identification and AST studies have demonstrated impressive results, some shortcomings must be addressed. To bridge the gap between proof-of-concept studies and clinical application, we have developed machine learning techniques in combination with a novel data-augmentation algorithm, for fast identification of minimally prepared bacteria phenotypes and the distinctions of methicillin-resistant (MR) from methicillin-susceptible (MS) bacteria. For this we have implemented a spectral transformer model for hyper-spectral Raman images of bacteria. We show that our model outperforms the standard convolutional neural network models on a multitude of classification problems, both in terms of accuracy and in terms of training time. We attain more than 96$\%$ classification accuracy on a dataset consisting of 15 different classes and 95.6$\%$ classification accuracy for six MR-MS bacteria species. More importantly, our results are obtained using only fast and easy-to-produce training and test data
Dext-Gen: Dexterous Grasping in Sparse Reward Environments with Full Orientation Control
Venue: arXiv cs.RO 2022
Year: 2022

Reinforcement learning is a promising method for robotic grasping as it can learn effective reaching and grasping policies in difficult scenarios. However, achieving human-like manipulation capabilities with sophisticated robotic hands is challenging because of the problem's high dimensionality. Although remedies such as reward shaping or expert demonstrations can be employed to overcome this issue, they often lead to oversimplified and biased policies. We present Dext-Gen, a reinforcement learning framework for Dexterous Grasping in sparse reward ENvironments that is applicable to a variety of grippers and learns unbiased and intricate policies. Full orientation control of the gripper and object is achieved through smooth orientation representation. Our approach has reasonable training durations and provides the option to include desired prior knowledge. The effectiveness and adaptability of the framework to different scenarios is demonstrated in simulated experiments.
Hybrid Ensemble for Fake News Detection: An attempt
Venue: arXiv cs.CL 2022
Year: 2022

Fake News Detection has been a challenging problem in the field of Machine Learning. Researchers have approached it via several techniques using old Statistical Classification models and modern Deep Learning. Today, with the growing amount of data, developments in the field of NLP and ML, and an increase in the computation power at disposal, there are infinite permutations and combinations to approach this problem from a different perspective. In this paper, we try different methods to tackle Fake News, and try to build, and propose the possibilities of a Hybrid Ensemble combining the classical Machine Learning techniques with the modern Deep Learning Approaches
Link the World: Improving Open-domain Conversation with Dynamic Spatiotemporal-aware Knowledge
Venue: arXiv cs.CL 2022
Year: 2022

Making chatbots world aware in a conversation like a human is a crucial challenge, where the world may contain dynamic knowledge and spatiotemporal state. Several recent advances have tried to link the dialog system to a static knowledge base or search engine, but they do not contain all the world information needed for conversations. In contrast, we propose a new method to improve the dialogue system using spatiotemporal aware dynamic knowledge. We utilize service information as a way for the dialogue system to link the world. The system actively builds a request according to the dialog context and spatiotemporal state to get service information and then generates world aware responses. To implement this method, we collect DuSinc, an open-domain human-human dialogue dataset, where a participant can access the service to get the information needed for dialogue responses. Through automatic and human evaluations, we found that service information significantly improves the consistency, informativeness, factuality, and engagingness of the dialogue system, making it behave more like a human. Compared to the pre-trained models without spatiotemporal aware dynamic knowledge, the overall session-level score was improved by 60.87\%. The collection dataset and methods will be open-sourced.
Towards Lexical Gender Inference: A Scalable Methodology using Online Databases
Venue: arXiv cs.CL 2022
Year: 2022

This paper presents a new method for automatically detecting words with lexical gender in large-scale language datasets. Currently, the evaluation of gender bias in natural language processing relies on manually compiled lexicons of gendered expressions, such as pronouns ('he', 'she', etc.) and nouns with lexical gender ('mother', 'boyfriend', 'policewoman', etc.). However, manual compilation of such lists can lead to static information if they are not periodically updated and often involve value judgments by individual annotators and researchers. Moreover, terms not included in the list fall out of the range of analysis. To address these issues, we devised a scalable, dictionary-based method to automatically detect lexical gender that can provide a dynamic, up-to-date analysis with high coverage. Our approach reaches over 80% accuracy in determining the lexical gender of nouns retrieved randomly from a Wikipedia sample and when testing on a list of gendered words used in previous research.
Deep Neural Networks pruning via the Structured Perspective Regularization
Venue: arXiv cs.LG 2022
Year: 2022

In Machine Learning, Artificial Neural Networks (ANNs) are a very powerful tool, broadly used in many applications. Often, the selected (deep) architectures include many layers, and therefore a large amount of parameters, which makes training, storage and inference expensive. This motivated a stream of research about compressing the original networks into smaller ones without excessively sacrificing performances. Among the many proposed compression approaches, one of the most popular is \emph{pruning}, whereby entire elements of the ANN (links, nodes, channels, \ldots) and the corresponding weights are deleted. Since the nature of the problem is inherently combinatorial (what elements to prune and what not), we propose a new pruning method based on Operational Research tools. We start from a natural Mixed-Integer-Programming model for the problem, and we use the Perspective Reformulation technique to strengthen its continuous relaxation. Projecting away the indicator variables from this reformulation yields a new regularization term, which we call the Structured Perspective Regularization, that leads to structured pruning of the initial architecture. We test our method on some ResNet architectures applied to CIFAR-10, CIFAR-100 and ImageNet datasets, obtaining competitive performances w.r.t.~the state of the art for structured pruning.
Placing (Historical) Facts on a Timeline: A Classification cum Coref Resolution Approach
Venue: arXiv cs.CL 2022
Year: 2022

A timeline provides one of the most effective ways to visualize the important historical facts that occurred over a period of time, presenting the insights that may not be so apparent from reading the equivalent information in textual form. By leveraging generative adversarial learning for important sentence classification and by assimilating knowledge based tags for improving the performance of event coreference resolution we introduce a two staged system for event timeline generation from multiple (historical) text documents. We demonstrate our results on two manually annotated historical text documents. Our results can be extremely helpful for historians, in advancing research in history and in understanding the socio-political landscape of a country as reflected in the writings of famous personas.
Compilation Forking: A Fast and Flexible Way of Generating Data for Compiler-Internal Machine Learning Tasks
Venue: arXiv cs.PL 2022
Year: 2022

Compiler optimization decisions are often based on hand-crafted heuristics centered around a few established benchmark suites. Alternatively, they can be learned from feature and performance data produced during compilation. However, data-driven compiler optimizations based on machine learning models require large sets of quality data for training in order to match or even outperform existing human-crafted heuristics. In static compilation setups, related work has addressed this problem with iterative compilation. However, a dynamic compiler may produce different data depending on dynamically-chosen compilation strategies, which aggravates the generation of comparable data. We propose compilation forking, a technique for generating consistent feature and performance data from arbitrary, dynamically-compiled programs. Different versions of program parts with the same profiling and compilation history are executed within single program runs to minimize noise stemming from dynamic compilation and the runtime environment. Our approach facilitates large-scale performance evaluations of compiler optimization decisions. Additionally, compilation forking supports creating domain-specific compilation strategies based on machine learning by providing the data for model training. We implemented compilation forking in the GraalVM compiler in a programming-language-agnostic way. To assess the quality of the generated data, we trained several machine learning models to replace compiler heuristics for loop-related optimizations. The trained models perform equally well to the highly-tuned compiler heuristics when comparing the geometric means of benchmark suite performances. Larger impacts on few single benchmarks range from speedups of 20% to slowdowns of 17%. The presented approach can be implemented in any dynamic compiler. We believe that it can help to analyze compilation decisions and leverage the use of machine learning into dynamic compilation.
Hamiltonian Monte Carlo Particle Swarm Optimizer
Venue: arXiv cs.LG 2022
Year: 2022

We introduce the Hamiltonian Monte Carlo Particle Swarm Optimizer (HMC-PSO), an optimization algorithm that reaps the benefits of both Exponentially Averaged Momentum PSO and HMC sampling. The coupling of the position and velocity of each particle with Hamiltonian dynamics in the simulation allows for extensive freedom for exploration and exploitation of the search space. It also provides an excellent technique to explore highly non-convex functions while ensuring efficient sampling. We extend the method to approximate error gradients in closed form for Deep Neural Network (DNN) settings. We discuss possible methods of coupling and compare its performance to that of state-of-the-art optimizers on the Golomb's Ruler problem and Classification tasks.
aSTDP: A More Biologically Plausible Learning
Venue: arXiv cs.NE 2022
Year: 2022

Spike-timing dependent plasticity in biological neural networks has been proven to be important during biological learning process. On the other hand, artificial neural networks use a different way to learn, such as Back-Propagation or Contrastive Hebbian Learning. In this work we introduce approximate STDP, a new neural networks learning framework more similar to the biological learning process. It uses only STDP rules for supervised and unsupervised learning, every neuron distributed learn patterns and don' t need a global loss or other supervised information. We also use a numerical way to approximate the derivatives of each neuron in order to better use SDTP learning and use the derivatives to set a target for neurons to accelerate training and testing process. The framework can make predictions or generate patterns in one model without additional configuration. Finally, we verified our framework on MNIST dataset for classification and generation tasks.
Question Personalization in an Intelligent Tutoring System
Venue: arXiv cs.CL 2022
Year: 2022

This paper investigates personalization in the field of intelligent tutoring systems (ITS). We hypothesize that personalization in the way questions are asked improves student learning outcomes. Previous work on dialogue-based ITS personalization has yet to address question phrasing. We show that generating versions of the questions suitable for students at different levels of subject proficiency improves student learning gains, using variants written by a domain expert and an experimental A/B test. This insight demonstrates that the linguistic realization of questions in an ITS affects the learning outcomes for students.
Collecting high-quality adversarial data for machine reading comprehension tasks with humans and models in the loop
Venue: arXiv cs.CL 2022
Year: 2022

We present our experience as annotators in the creation of high-quality, adversarial machine-reading-comprehension data for extractive QA for Task 1 of the First Workshop on Dynamic Adversarial Data Collection (DADC). DADC is an emergent data collection paradigm with both models and humans in the loop. We set up a quasi-experimental annotation design and perform quantitative analyses across groups with different numbers of annotators focusing on successful adversarial attacks, cost analysis, and annotator confidence correlation. We further perform a qualitative analysis of our perceived difficulty of the task given the different topics of the passages in our dataset and conclude with recommendations and suggestions that might be of value to people working on future DADC tasks and related annotation interfaces.
Neural Integro-Differential Equations
Venue: arXiv cs.LG 2022
Year: 2022

Modeling continuous dynamical systems from discretely sampled observations is a fundamental problem in data science. Often, such dynamics are the result of non-local processes that present an integral over time. As such, these systems are modeled with Integro-Differential Equations (IDEs); generalizations of differential equations that comprise both an integral and a differential component. For example, brain dynamics are not accurately modeled by differential equations since their behavior is non-Markovian, i.e. dynamics are in part dictated by history. Here, we introduce the Neural IDE (NIDE), a novel deep learning framework based on the theory of IDEs where integral operators are learned using neural networks. We test NIDE on several toy and brain activity datasets and demonstrate that NIDE outperforms other models. These tasks include time extrapolation as well as predicting dynamics from unseen initial conditions, which we test on whole-cortex activity recordings in freely behaving mice. Further, we show that NIDE can decompose dynamics into their Markovian and non-Markovian constituents via the learned integral operator, which we test on fMRI brain activity recordings of people on ketamine. Finally, the integrand of the integral operator provides a latent space that gives insight into the underlying dynamics, which we demonstrate on wide-field brain imaging recordings. Altogether, NIDE is a novel approach that enables modeling of complex non-local dynamics with neural networks.
Human-Multirobot Collaborative Mobile Manipulation: the Omnid Mocobots
Venue: arXiv cs.RO 2022
Year: 2022

The Omnid human-collaborative mobile manipulators are an experimental platform for testing control architectures for autonomous and human-collaborative multirobot mobile manipulation. An Omnid consists of a mecanum-wheel omnidirectional mobile base and a series-elastic Delta-type parallel manipulator, and it is a specific implementation of a broader class of mobile collaborative robots ("mocobots") suitable for safe human co-manipulation of delicate, flexible, and articulated payloads. Key features of mocobots include passive compliance, for the safety of the human and the payload, and high-fidelity end-effector force control independent of the potentially imprecise motions of the mobile base. We describe general considerations for the design of teams of mocobots; the design of the Omnids in light of these considerations; manipulator and mobile base controllers to achieve useful multirobot collaborative behaviors; and initial experiments in human-multirobot collaborative mobile manipulation of large, unwieldy payloads. For these experiments, the only communication among the humans and Omnids is mechanical, through the payload.
Intrinsic Anomaly Detection for Multi-Variate Time Series
Venue: arXiv cs.LG 2022
Year: 2022

We introduce a novel, practically relevant variation of the anomaly detection problem in multi-variate time series: intrinsic anomaly detection. It appears in diverse practical scenarios ranging from DevOps to IoT, where we want to recognize failures of a system that operates under the influence of a surrounding environment. Intrinsic anomalies are changes in the functional dependency structure between time series that represent an environment and time series that represent the internal state of a system that is placed in said environment. We formalize this problem, provide under-studied public and new purpose-built data sets for it, and present methods that handle intrinsic anomaly detection. These address the short-coming of existing anomaly detection methods that cannot differentiate between expected changes in the system's state and unexpected ones, i.e., changes in the system that deviate from the environment's influence. Our most promising approach is fully unsupervised and combines adversarial learning and time series representation learning, thereby addressing problems such as label sparsity and subjectivity, while allowing to navigate and improve notoriously problematic anomaly detection data sets.